CN110274589A - A kind of localization method and device - Google Patents
A kind of localization method and device Download PDFInfo
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- CN110274589A CN110274589A CN201810215239.9A CN201810215239A CN110274589A CN 110274589 A CN110274589 A CN 110274589A CN 201810215239 A CN201810215239 A CN 201810215239A CN 110274589 A CN110274589 A CN 110274589A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
Abstract
The invention discloses a kind of localization method and devices, are related to field of locating technology, and main purpose is that satellite-signal is unstable and carries out the precision for ensuring vehicle location during long-time dead reckoning.The main technical solution of the present invention are as follows: obtain the current wheel speed of vehicle current location information and vehicle rear wheel；According to the current wheel speed of vehicle rear wheel, the present speed of vehicle is obtained；According to the position coordinates and azimuth and the present speed in vehicle current location information, calculate vehicle by the DR position coordinate after preset time；According to the wheelbase of the current wheel speed of the rear-wheel, preset wheel speed ratio and vehicle, the current angular velocity of vehicle is obtained；According in the current location information azimuth and current angular velocity, calculate vehicle by the reckoning azimuth after preset time；Using the DR position coordinate and calculate azimuth as DR position information.Present invention is mainly used for navigation positioning systems.
Description
Technical field
The present invention relates to field of locating technology more particularly to a kind of localization methods and device.
Background technique
GPS (Global Positioning System, GPS) is that the middle round track of distance is defended
Star navigation system comprising: starry sky part, that is, 24 GPS satellites in space；Earth station, i.e. 1 on ground master station,
3 data injection stations and 5 monitoring stations；And it is mounted in the GPS receiver in vehicle or mobile terminal.It can be ground
Ball surface overwhelming majority area, which provides, accurately to be positioned, tests the speed and high-precision time standard.GPS receiver at least only needs to receive
To the signal of 3 satellites, terminal location on earth can be determined rapidly.What certain GPS receiver can search defends
Star number is more, and it is more accurate to decode the position come.
However, when satellite-signal can be blocked near the buildings such as high building, viaduct, will lead to GPS receiver in reality
Received signal is unstable, at this point, positioning accuracy will be a greater impact, positioning result will appear serious drift, or even in tunnel
Road etc. blocks cannot achieve positioning using GPS mode under scene very serious substantially.
In view of the above-mentioned problems, existing onboard navigation system can be used to by dress gyro, the accelerometer etc. carried on vehicle
Property sensor, when GPS positioning is unreliable by the data of these sensors, by dead reckoning (Dead reckoning,
DR) come DR position and course information, to guarantee the stability and continuity of positioning.But due to the number of sensor output
According to itself, there is a certain error, and with the lasting iteration of the process of reckoning, error will constantly be amplified.It can be seen that how
Ensure that the precision of vehicle location becomes urgent need to resolve during and progress long-time dead reckoning unstable in satellite-signal
The problem of.
Summary of the invention
In view of the above problems, the invention proposes a kind of localization method and device, main purpose is satellite-signal shakiness
Ensure the precision of vehicle location during fixed and progress long-time dead reckoning.
In order to achieve the above objectives, present invention generally provides following technical solutions:
On the one hand, the present invention provides a kind of localization method, specifically includes:
Obtain the current wheel speed of vehicle current location information and vehicle rear wheel；
According to the current wheel speed of vehicle rear wheel, the present speed of vehicle is obtained；
According to the position coordinates and azimuth and the present speed in vehicle current location information, calculate that vehicle passes through
DR position coordinate after preset time；
According to the wheelbase of the current wheel speed of the rear-wheel, preset wheel speed ratio and vehicle, the current angular velocity of vehicle is obtained；
According in the current location information azimuth and current angular velocity, calculate vehicle by after preset time
Calculate azimuth；
Using the DR position coordinate and calculate azimuth as DR position information.
On the other hand, the present invention provides a kind of positioning device, specifically includes:
Location information and wheel speed acquiring unit, for obtaining the current wheel speed of vehicle current location information and vehicle rear wheel；
Speed acquiring unit obtains the present speed of vehicle for the current wheel speed according to vehicle rear wheel；
Position coordinates projected unit, for according to position coordinates and azimuth in vehicle current location information and described
Present speed calculates vehicle by the DR position coordinate after preset time；
Angular speed acquiring unit is obtained for the current wheel speed according to the rear-wheel, the preset wheelbase for taking turns speed ratio and vehicle
To the current angular velocity of vehicle；
Azimuth projected unit, for according in the current location information azimuth and current angular velocity, calculate vehicle
By the reckoning azimuth after preset time；
Positioning unit, for using the DR position coordinate and reckoning azimuth as DR position information.
On the other hand, the present invention provides a kind of storage medium, and the storage medium includes the program of storage, wherein described
Equipment program controls the storage medium when running where executes above-mentioned localization method.
On the other hand, the present invention provides a kind of processor, and the processor is for running program, wherein described program fortune
Above-mentioned localization method is executed when row.
By above-mentioned technical proposal, a kind of localization method and device provided by the invention lead to when positioning to vehicle
The current wheel speed for crossing acquisition vehicle rear wheel extrapolates vehicle in conjunction with the preset wheel speed ratio of vehicle, vehicle current location information etc.
DR position coordinate and calculate azimuth.Since inventor has found rear-wheel (left rear wheel and off hind wheel) wheel speed of vehicle
Have differences, in order to eliminate long-time dead reckoning during error brought by wheel speed difference, the present invention is by vehicle rear wheel
Wheel speed ratio be introduced into dead reckoning during, to eliminate error caused by the difference of vehicle wheel speed, avoid for a long time navigate position
Positioning accuracy caused by calculating declines problem, it is ensured that the positioning accuracy of vehicle.Further, it is needed relative to existing dead reckoning
A large amount of sensing equipment is used, the present invention carries out the technical side of dead reckoning by the wheel speed information combination location information of vehicle
Case eliminates the cost that a large amount of sensing equipments are installed on vehicle, meanwhile, it also avoids using brought by a large amount of sensing equipments
Calculate error.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows a kind of flow chart of localization method of proposition of the embodiment of the present invention；
Fig. 2 shows the data fitting result charts of velocity compensation function under vehicle straight-going state；
Fig. 3 shows the data fitting result chart of angular rate compensation function under vehicle turning state；
Fig. 4 shows the flow chart of the positioning information fusion method of proposition of the embodiment of the present invention；
Fig. 5 shows a kind of composition block diagram of positioning device of proposition of the embodiment of the present invention；
Fig. 6 shows the composition block diagram of another positioning device of proposition of the embodiment of the present invention.
Specific embodiment
The exemplary embodiment that the present invention will be described in more detail below with reference to accompanying drawings.Although showing the present invention in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the present invention without should be by embodiments set forth here
It is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and can be by the scope of the present invention
It is fully disclosed to those skilled in the art.
The embodiment of the invention provides a kind of localization method, this method, which is applied, carries out the position fixing process of dead reckoning in vehicle
In, the reckoning position of vehicle is mainly calculated by vehicle current location information, the wheel speed of vehicle rear wheel and preset wheel speed ratio etc.
It sets coordinate and calculates azimuth, and since general vehicle is all equipped with the sensor that can export the data, so, acquisition
Above-mentioned data on vehicle without increasing new measurement sensor, and therefore, localization method used by the embodiment of the present invention will not
The additional hardware cost for increasing vehicle.Meanwhile the present invention is unstable in GPS signal, or even the case where can not receive GPS signal
Under, the embodiment of the present invention can provide persistently high-precision positioning service still for vehicle.
This method specific steps as shown in Figure 1, this method comprises:
Step 101, the current wheel speed for obtaining vehicle current location information and vehicle rear wheel.
Firstly, the current location information for obtaining vehicle can be the satellite positioning information obtained from GPS receiver, it can also
To be the reckoning positioning information obtained based on dead reckoning, or by the above two merge obtained fusion location information.Generally
Ground, the parameter for including in current location information include at least latitude and longitude coordinates, azimuth, speed, angular speed etc..It needs to illustrate
It is that, in dead reckoning initialization, the vehicle current location information of acquisition is satellite positioning information, and in order to guarantee subsequent reckoning
As a result accuracy, the prelocalization of the working as when satellite positioning information for needing to select to export when satellite positioning is reliable is as initialization are believed
Breath, to guarantee the subsequent accuracy for calculating result.
Secondly, the wheel speed for obtaining vehicle rear wheel is because existing vehicle front-wheel is generally deflecting roller, the direction one of front-wheel
As will receive the control of driver, and the variation in direction will affect wheel speed, therefore, to avoid error caused by human factor,
In the present embodiment, using the rear-wheel of vehicle as the acquisition target of wheel speed.The rear-wheel of vehicle is divided into the left and right sides, has for side more
The vehicle of a rear-wheel is considered as a rear-wheel in the present embodiment, and therefore, the current wheel speed for the rear-wheel that the present invention obtains just includes a left side
The current wheel speed of rear-wheel and the current wheel speed of off hind wheel.
It should be pointed out that the current wheel speed in this step is the wheel speed at current time, definition is that wheel moves
Speed, unit is rice/per second, rather than the revolving speed of wheel.
Step 102, the current wheel speed according to vehicle rear wheel, obtain the present speed of vehicle.
Wherein, the wheel speed of vehicle rear wheel and the travel speed of vehicle itself have strong correlation, that is, vehicle is in stable row
It sails under state, the current wheel speed of rear-wheel can be used as the present speed of vehicle.However, the left and right rear-wheel of vehicle is in vehicle driving
When its wheel speed it is not fully identical, especially in Ackermann steer angle, the arc length travelled by vehicle left rear wheel and off hind wheel is not
Together, the distance for causing two rear-wheels to be crossed in the same time differs, and the wheel speed of left and right rear-wheel is also just different.Therefore, vehicle
Present speed is usually the average value for taking two rear-wheel wheel speeds.
And in a preferred embodiment of the invention, it is contemplated that the performance of vehicle itself, for example, in vehicle straight trip,
It was found that the obtained wheel speed measurement value of the left and right rear-wheel of vehicle is also unequal, it is poor that this illustrates to exist between the left and right rear-wheel of vehicle
It is different, in this case, if use the mean value of left and right rear-wheel wheel speed as vehicle present speed if can have error.In order to disappear
Except the difference, rear-wheel wheel speed can be compared with the wheel speed of vehicle and compensated, to eliminate because of error brought by the difference.Specifically
, can define wheel speed ratio first is using left rear wheel wheel speed as standard, caused by being not allowed by off hind wheel wheel speed, that is, take turns speed ratio
Calculation formula is as follows:
Based on above-mentioned wheel speed ratio calculation formula it is found that the actual value of right wheel wheel speed (participates in working as subsequent calculating vehicle
The value of preceding speed and angular speed) be right wheel wheel speed measured value vrMultiplied by the value of wheel speed ratio r.As a result, in order to compensate for the survey of wheel speed
Error when magnitude and vehicle actual travel between actual value, in a preferred embodiment of the invention, the present speed of vehicle can
To be obtained by following formula:
Wherein, vtSpeed for vehicle in t moment, vlWith vrFor the vehicle left rear wheel wheel speed and off hind wheel wheel of t moment measurement
Speed, r are the wheel speed ratio of vehicle, and in the ideal situation, the value of the wheel speed ratio is 1.
It should be noted that can specifically be selected according to factors such as specific vehicle condition, running environments when actually calculating
The calculation of wheel speed ratio is selected, the present invention does not do any restrictions.
In addition, obtaining the present speed of vehicle, outer, present invention reality is calculated except through the current wheel speed of vehicle rear wheel
It applies example and does not also limit the present speed for otherwise obtaining vehicle, for example, reading vehicle itself from the data/address bus of vehicle
Travel speed (unit of the value is generally thousand ms/h), or according to the satellite location data of vehicle, to determine vehicle
Present speed.
Step 103, according to the position coordinates and azimuth and the present speed in vehicle current location information, calculate
Vehicle passes through the DR position coordinate after preset time.
Reckoning mode in this step is the dead reckoning algorithm of existing mainstream, when dead reckoning refers to current using vehicle
The position at quarter calculates the process of vehicle subsequent time position in conjunction with information such as moving distance, the orientation of vehicle.Specific to this step
Suddenly, it is exactly position coordinates and the azimuth utilized in vehicle current location information, extrapolates vehicle in conjunction with the present speed of vehicle
DR position coordinate after preset time.Wherein, the value of preset time can be by technical staff according to positioning performance
It is required that being set, the present invention does not do any restrictions.
Step 104, the current wheel speed according to the rear-wheel, the preset wheelbase for taking turns speed ratio and vehicle, obtain working as vehicle
Preceding angular speed.The step is the current wheel speed based on vehicle rear wheel acquired in step 101, in conjunction with preset wheel speed ratio and vehicle
Wheelbase calculate the current angular velocity of vehicle, when being executed, with step 102,103 treatment process it is successive there is no in logic
Sequentially, number of steps only embodiment of the present invention for convenience of description, is not considered as the limit to each step execution sequence of the present invention
It is fixed.
Wherein, the wheel speed ratio in this step is identical as the wheel speed ratio that step 102 relevant portion is recorded, and details are not described herein again.
In order to eliminate the different bring error of rear-wheel difference in wheel, a preferred embodiment of the present invention is in the current angular velocity for calculating vehicle
When, following formula can be used:
Wherein, ωtFor the angular speed of vehicle t moment, vlWith vrFor the vehicle left rear wheel wheel speed and off hind wheel of t moment measurement
Wheel speed, r are the wheel speed ratio of vehicle, and B is wheelbase.
Step 105, according in the current location information azimuth and current angular velocity, calculate vehicle by it is default when
Between after reckoning azimuth.
The step is the current angular velocity of the vehicle obtained based on step 104, calculates vehicle using dead reckoning algorithm and passes through
Cross the reckoning azimuth after preset time.Specific dead reckoning process referring to step 103 relevant portion record, herein not
It repeats again.
It should be noted that the preset time in this step and the preset time in step 103 are identical.
Step 106, using the DR position coordinate and calculate azimuth as DR position information.
Step 106 is that the reckoning result of step 103 and 105 is determined as the reckoning position of vehicle after the preset lime jointly
Confidence breath, that is, the present invention has been obtained from the time corresponding when obtaining vehicle current location information by after preset time
The DR position of vehicle.
It cites an actual example to be illustrated.The location information of this time is taken for example, separately winning 1: 01, then the positioning
Information is then current location information of the present invention, and preset time is 1 minute, then, obtain 1 point 01 minute it is corresponding current
After location information, the DR position information of namely 1: 02 timesharing vehicle after the present invention will calculate 1 minute.Obtaining at 1 point 02 minute
DR position information after, if Vehicular satellite positioning system also outputs a satellite positioning information for 02 minute at 1 point, and should
Satellite positioning information is reliably that then the present invention can also further merge the two information, obtain the vehicle at 1 point
The fusion location information is determined as the location information of the moment vehicle by 02 point of fusion location information, if satellite positioning is believed
Breath be it is insecure, then 1 point of 02 minute DR position information is determined as to the location information of the moment vehicle.Meanwhile 1 point 02 minute
The location information of vehicle then can be as the input for the DR position information for calculating 1: 03 separating vehicles.
The specific formula for calculation that dead reckoning in the present invention can be obtained for above-mentioned steps is as follows, the formula indicate be from
The k-1 moment calculates to obtain the DR position information at k moment, that is, the parameter that k-1 is designated as under in formula refers to the embodiment of the present invention
In include in the current location information that refers to parameter, under be designated as that " parameter of k, k-1 " refer to as mentioned in the embodiments of the present invention
The parameter for including in DR position information, Δ t is the time interval at k-1 moment to k moment, and unsubscripted v, ω are then to refer to
The vehicle present speed and current angular velocity that wheel speed ratio and vehicle rear wheel wheel speed calculation based on the k-1 moment obtain.
Wherein, physical significance every in the formula are as follows: longitude coordinate xk,k-1For current longitude coordinate xk-1With preset time
The sum of value added of the vehicle in the longitudinal in being spaced；Latitude coordinate yk,k-1For current latitude coordinate yk-1With preset time
The sum of value added of the vehicle on the latitude direction in being spaced；Vehicle heading θk,k-1For current driving direction θk-1With it is default
The sum of vehicle yaw angle in time interval；Speed vk,k-1And angular velocity omegak,k-1For v, the ω being calculated；Rear wheel rotation speed ratio
rk,k-1For vehicle the k-1 moment rear wheel rotation speed ratio.
By examples detailed above as it can be seen that a kind of localization method provided by the embodiment of the present invention, passes through acquisition vehicle rear wheel
Current wheel speed calculates the position of vehicle using dead reckoning algorithm in conjunction with preset wheel speed ratio and vehicle current location information
Confidence breath, including DR position coordinate and reckoning azimuth.Since the present invention is in the current wheel speed of application vehicle rear wheel, examine
Considered the error between the measured value of wheel speed and actual value, by introduce take turns speed ratio, improve calculate vehicle present speed with
And the accuracy of current angular velocity, the error iterated to calculate is led to using dead reckoning for a long time to reduce with this, allows and extrapolates
Location information be more nearly the actual position of vehicle, increase positioning accuracy.Simultaneously as the wheel speed of vehicle rear wheel is usually vehicle
The technical parameter of conventional Christmas, thus, for existing vehicle, using localization method of the invention without adding to vehicle
Other sensing equipments are filled, can still obtain the more accurate reckoning position of vehicle by dead reckoning in the case where not increasing cost
Confidence breath, realizes vehicle location.
Further, inventor's discovery during the verifying present invention provides embodiment needs into one certain vehicles
Walk in above-described embodiment step 102, it is involved in 104 present speed, the current angular velocity of vehicle are compensated, can
The precision for the DR position information that the present invention obtains is further increased, specific as follows:
1, straight line travels.
If vehicle is during straight-line travelling, the actual distance traveled of vehicle and according to the vehicle in same time span
Rear-wheel the distance that calculates of wheel speed be it is unequal, illustrate according to the wheel speed of rear-wheel calculated present speed, with vehicle
Actual travel speed there are errors, therefore, using preceding method calculate the DR position of the vehicle when, need to obtain vehicle
Velocity compensated value, compensate and then execute the step with present speed of the velocity compensated value to the vehicle
103, according to the position coordinates and azimuth and the present speed in vehicle current location information, calculate vehicle by default
DR position coordinate after time.Wherein, the actual distance traveled of vehicle can be measured by the distance measuring equipment of profession.
In practical applications, vehicle can be allowed to carry out straight-line travelling at different rates, and then by obtaining in this process
It obtains actual distance traveled and data fitting is carried out by the operating range that rear-wheel wheel speed calculates, obtain the velocity compensation of the vehicle
Function obtains the velocity compensated value of vehicle using the velocity compensation function.Specifically, as shown in Figure 2 mends for car speed
The fitting result chart repaid, when the travel speed of vehicle is higher, corresponding penalty coefficient also more tends towards stability.
Assuming that velocity compensation function gamma (v), can obtain corresponding speed in the case where known speed by the function
Penalty coefficient.In this way, the compensated speed of vehicle can indicate are as follows: v=vtΓ(vt), wherein v is that vehicle t moment is compensated
Speed, vtFor the car speed by vehicle rear wheel wheel speed calculation of t moment, Γ (vt) it is vtCorresponding velocity compensation coefficient.
By above-mentioned record it is found that compensating to the current driving speed to vehicle, then need pre- to first pass through experiment
Mode obtains the velocity compensation function of vehicle, and the process for obtaining the velocity compensation function of vehicle can be independently of the aforementioned reality of the present invention
The method that example offer is provided.
2, vehicle turning travels.
Vehicle is in turning driving, since there are transverse accelerations for vehicle, when vehicle carries out camber line traveling at a certain angle
When, the current wheel speed of the left and right rear-wheel of vehicle is centainly different, i.e. the current linear velocity of left and right vehicle wheel rear-wheel is due to turning radius
It is different and different, therefore, the present invention vehicle turning when driving, preferably with the current wheel speed calculation of left and right vehicle wheel rear-wheel
The angular speed of Ackermann steer angle indicates the present speed of vehicle with the current angular velocity of vehicle.With straight-line travelling compensation process phase
Seemingly, if in same time span, the actual steering angle of vehicle with according to calculated turn of current angular velocity of the vehicle
When to angle difference, just angle of the explanation according to the calculated current angular velocity of wheel speed institute of left and right rear-wheel, with vehicle actual travel
There are errors between speed, therefore, when calculating the reckoning azimuth of the vehicle using preceding method, need to obtain the angle of vehicle
Velocity compensated value after being compensated with the angular rate compensation value to the current angular velocity of the vehicle, then executes step 105 basis
Azimuth and current angular velocity in the current location information calculate vehicle by the reckoning azimuth after preset time.
Wherein, the Angle Measuring Equipment measurement that the actual steering angle of vehicle again may be by profession obtains.
In practical applications, vehicle can be allowed to carry out turning driving with different angular speed, and then by this process
Actual steering angle and the angular speed by rear-wheel wheel speed calculation are obtained, then the steering angle calculated carries out data fitting, obtains
To the angular rate compensation function of the vehicle, the velocity compensated value of vehicle is obtained using the angular rate compensation function.Specifically, according to
Fitting result chart for vehicle angular rate compensation as shown in Figure 3 can be seen that the steering angle of the angular speed and vehicle of vehicle
Degree has linear ratio relation.
Assuming that angular rate compensation function ∧ (vt, a), can be in known vehicle present speed and acceleration by the function
In the case where, obtain corresponding angular rate compensation value.In this way, the compensated angular speed of vehicle can indicate are as follows: ω=ωtΓ
(vt)+∧(vt, a), wherein ω is the compensated angular speed of vehicle t moment, vtFor being obtained by vehicle rear wheel wheel speed calculation for t moment
The car speed arrived, Γ (vt) it is vtCorresponding velocity compensation coefficient, ωtIt is t moment by the angle speed of vehicle rear wheel wheel speed calculation
Degree, or the angular speed being calculated by the vehicle steering angle that vehicle CAN bus obtains, a are the transverse acceleration of vehicle.
It compensates identical to straight line traveling with above-mentioned, is compensated to the current driving angular speed to vehicle,
It is also required to the pre- mode for first passing through experiment and obtains the angular rate compensation function of vehicle, and obtain the angular rate compensation function of vehicle
Process can independently of present invention provide method.
The two kinds of above situations, can be by a variety of digital simulation software to measured number when calculating penalty function
Accordingly and the data of calculating carry out data fitting, and therefore, the present embodiment is no longer specifically described the process of data fitting.
Based on previous embodiment, the embodiment of the present invention also proposes a kind of localization method, and this method is calculated using Kalman filtering
Method merges DR position information with the satellite positioning information at corresponding moment, to obtain the location information of vehicle, with into
The accuracy of one step promotion vehicle location information.Meanwhile believing the vehicle location information as the input of subsequent dead reckoning
Breath also reduces the error for calculating result, it is ensured that method shown in the projection accuracy of long-time dead reckoning, this method and Fig. 1
Difference is, this method be after step 106 further comprise step as shown in Figure 4, it is specific as follows:
Step 201, the satellite positioning information for obtaining the vehicle that the DR position coordinate corresponding time receives.
It is illustrated with specific example, for example, method shown in FIG. 1 obtains location information in 01 minute at 1 point, then this is fixed
Position information is then current location information shown in FIG. 1, and preset time is 1 minute, then, obtain 1 point 01 minute it is corresponding current
After location information, the DR position information of namely 1: 02 timesharing vehicle after method shown in Fig. 1 will calculate 1 minute.Obtaining 1
After 02 minute DR position information of point, step 201 then needs to obtain Vehicular satellite location receiver defending in 1 point of output in 02 minute
Star location information.
Whether step 202, to judge the satellite positioning information reliable, if reliably, thening follow the steps 203, if can not
It leans on, thens follow the steps 204.
Generally, the satellite positioning information of Vehicular satellite location receiver output includes latitude and longitude coordinates, direction, speed,
The parameters such as elevation, dilution of precision.Specifically, whether satellite positioning information can be judged by parameters such as dilution of precision, signal-to-noise ratio
Reliably.
Step 203, using Kalman filtering algorithm, the satellite positioning information and the DR position information are melted
It closes, obtains the location information of vehicle.
Wherein, Kalman filtering (Kalman filtering) is a kind of using linear system state equation, passes through system
Data are observed in input and output, and the algorithm of optimal estimation is carried out to system mode.Due to including the noise in system in observation data
With the influence of interference, so optimal estimation is also considered as filtering.Data filtering is removal noise reduction truthful data
A kind of data processing technique, Kalman filter can be from a series of numbers that there is measurement noise in the case where measuring situation known to variance
In, the state of dynamical system is estimated.Therefore, the present invention is using Kalman filtering algorithm to satellite positioning information and DR position
Information is merged.Wherein, noise matrix needed for fusion calculation process, initial mean square deviation battle array, observing matrix and sight
Noise matrix is surveyed, can be configured according to actual environment, the present embodiment is not specifically limited.
Step 204, the location information that the DR position information for the vehicle that step 106 obtains is determined as to vehicle.
It is illustrated with a specific example.The location information of this time is taken for example, separately winning 1: 01, then this is fixed
Position information is then current location information of the present invention, and preset time is 1 minute, then, corresponding work as within 01 minute obtaining at 1 point
After prelocalization information, the DR position information of namely 1: 02 timesharing vehicle after the present invention will calculate 1 minute.Obtaining 1: 02
After the DR position information divided, if Vehicular satellite positioning system also outputs a satellite positioning information for 02 minute at 1 point, and
The satellite positioning information is reliably that then the present invention can also further be melted the two information by Kalman filtering
It closes, obtains the vehicle in 1 point of 02 minute fusion location information, the positioning which is determined as the moment vehicle is believed
Breath, if satellite positioning information be it is insecure, 1 point of 02 minute DR position information is determined as to the positioning of the moment vehicle
Information.Meanwhile 1: 02 separating vehicles location information then can as calculate 1: 03 separating vehicles DR position information input.
More than, it has been illustrated by way of example and how Kalman filtering have been used to obtain the location information of vehicle, DR position has been believed
Breath and the satellite positioning information of high reliability are merged, and higher-quality positioning service can be provided for user.
Further, as the realization to method shown in above-mentioned Fig. 1 and Fig. 4, the embodiment of the invention provides a kind of positioning
Device, the device are mainly used in onboard navigation system, are realized the GPS navigation jitter in vehicle and are carried out for a long time
Continuous accurately location information is provided when dead reckoning.To be easy to read, present apparatus embodiment is no longer to preceding method embodiment
In detail content repeated one by one, it should be understood that the device in the present embodiment can correspond to realize preceding method implement
Full content in example.The device is as shown in figure 5, specifically include:
Location information and wheel speed acquiring unit 301 work as front-wheel for obtain vehicle current location information and vehicle rear wheel
Speed；
Speed acquiring unit 302, for the vehicle rear wheel according to the location information and the acquisition of wheel speed acquiring unit 31
Current wheel speed obtains the present speed of vehicle；
Position coordinates projected unit 303, for according in vehicle current location information position coordinates and azimuth and
The present speed that the speed acquiring unit 302 obtains calculates vehicle by the DR position coordinate after preset time；
Angular speed acquiring unit 304, for being worked as according to the rear-wheel of the location information and the acquisition of wheel speed acquiring unit 301
The wheelbase of preceding wheel speed, preset wheel speed ratio and vehicle, obtains the current angular velocity of vehicle；
Azimuth projected unit 305, for according in the current location information azimuth and the angular speed obtain
The current angular velocity that unit 304 obtains calculates vehicle by the reckoning azimuth after preset time；
Positioning unit 306, DR position coordinate and the orientation for obtaining the position coordinates projected unit 303
The reckoning azimuth that angle projected unit 305 obtains is as DR position information.
Further, as shown in fig. 6, described device further include:
Speed compensating unit 307, for working as straight line when driving, the actual distance traveled of vehicle in same time span
It is unequal with the distance that is calculated according to the wheel speed of rear-wheel, then obtain the velocity compensated value of vehicle, and with the speed compensating unit
307 velocity compensated values obtained are compensated to the present speed of the vehicle and then trigger position coordinate projected unit
303。
Further, as shown in fig. 6, described device further include:
Angular rate compensation unit 308, for when vehicle turning when driving, according to the angular speed and transverse acceleration of vehicle,
The angular rate compensation value of vehicle is obtained, and the angular rate compensation value obtained with the angular rate compensation unit 308 is to the vehicle
Current angular velocity compensate after, then trigger azimuth projected unit 305.
Further, as shown in fig. 6, the current wheel speed of rear-wheel acquired in the location information and wheel speed acquiring unit 31
It include: the current wheel speed of off hind wheel and the current wheel speed of left rear wheel；
The angular speed acquiring unit 304 specifically includes:
Difference in wheel computing module 3041 for the current wheel speed and the preset product for taking turns speed ratio with off hind wheel, then subtracts
The current wheel speed of left rear wheel, obtains wheel speed difference；
Angular speed computing module 3042, the wheel speed difference for being obtained with the difference in wheel computing module 3041 is divided by default
Vehicle wheelbase, obtain the current angular velocity of vehicle.
Further, the speed acquiring unit 302 specifically includes when obtaining the present speed of vehicle: using off hind wheel
Current wheel speed and it is preset wheel speed ratio product and left rear wheel current wheel speed and value average value as the vehicle
Present speed.
Further, as shown in fig. 6, described device further include:
Location information acquiring unit 309 is sat for obtaining vehicle in the DR position that position coordinates projected unit 303 obtains
Mark the satellite positioning information that the corresponding time receives；
Whether judging unit 310, the satellite positioning information for judging that the location information acquiring unit 309 obtains may be used
It leans on；
The positioning unit 306, for utilizing karr when the judging unit 310 determines that satellite positioning information is reliable
The satellite positioning information and the DR position information are merged, obtain the location information of vehicle by graceful filtering algorithm.
In conclusion localization method used by the embodiment of the present invention and device, mainly pass through the rear-wheel of vehicle itself
The driving information of wheel speed calculation vehicle high-precision, present speed and current angular velocity including vehicle, utilizes dead reckoning algorithm
Predict the driving trace of vehicle.Wherein, for the calculating of driving information, speed ratio is taken turns except through introducing to reduce vehicle itself institute
Outside error between the acquisition data and real data of generation, also by introduce penalty function be the speed of vehicle, angular speed into
Row compensation calculation, so that the precision of location information is further increased, so that the location information of vehicle is even across prolonged boat
Position, which calculates, will not generate biggish error.And for the process of dead reckoning, the embodiment of the present invention further passes through promotion ginseng
With the observation of calculating, i.e., the reliability of current satellite positioning information, and by satellite positioning information and DR position information into
Row fusion, so that the present invention during executing dead reckoning, can be compensated using the satellite positioning information of high reliability
Error caused by dead reckoning further decreases the error that iterative calculation generates.Simultaneously as the embodiment of the present invention is to above-mentioned
The realization of function is completely independent of newly-increased sensor, it is only necessary to which the data of collecting part are from the sensing data of existing vehicle
Can, for realizing same technique effect accordingly, with respect to the prior art, present invention eliminates a large amount of high-precision sensings of equipment to set
It is standby, greatly reduce system cost.
Further, the embodiment of the invention also provides a kind of storage medium, which includes the program of storage,
In, equipment described program controls the storage medium when running where executes above-mentioned localization method.
In addition, the processor is for running program, wherein described the embodiment of the invention also provides a kind of processor
Program executes above-mentioned localization method when running.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, reference can be made to the related descriptions of other embodiments.
It is understood that the correlated characteristic in the above method and device can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be and not represent the superiority and inferiority of each embodiment for distinguishing each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Algorithm and display are not inherently related to any particular computer, virtual system, or other device provided herein.
Various general-purpose systems can also be used together with teachings based herein.As described above, it constructs required by this kind of system
Structure be obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can use various
Programming language realizes summary of the invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In addition, memory may include the non-volatile memory in computer-readable medium, random access memory
(RAM) and/or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes extremely
A few storage chip.
It should be understood by those skilled in the art that, embodiments herein can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the application
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the application, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The application is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present application
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, calculating equipment includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include the non-volatile memory in computer-readable medium, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer readable instructions, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase change memory (PRAM), static random access memory (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), flash memory or other memory techniques, read-only disc read only memory (CD-ROM) (CD-ROM),
Digital versatile disc (DVD) or other optical storage, magnetic cassettes, tape magnetic disk storage or other magnetic storage devices
Or any other non-transmission medium, can be used for storage can be accessed by a computing device information.As defined in this article, it calculates
Machine readable medium does not include temporary computer readable media (transitory media), such as the data-signal and carrier wave of modulation.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
There is also other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can provide as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or embodiment combining software and hardware aspects can be used in the application
Form.It is deposited moreover, the application can be used to can be used in the computer that one or more wherein includes computer usable program code
The shape for the computer program product implemented on storage media (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
The above is only embodiments herein, are not intended to limit this application.To those skilled in the art,
Various changes and changes are possible in this application.It is all within the spirit and principles of the present application made by any modification, equivalent replacement,
Improve etc., it should be included within the scope of the claims of this application.
Claims (14)
1. a kind of localization method, which is characterized in that the described method includes:
Obtain the current wheel speed of vehicle current location information and vehicle rear wheel；
According to the current wheel speed of vehicle rear wheel, the present speed of vehicle is obtained；
According to the position coordinates and azimuth and the present speed in vehicle current location information, calculate vehicle by default
DR position coordinate after time；
According to the wheelbase of the current wheel speed of the rear-wheel, preset wheel speed ratio and vehicle, the current angular velocity of vehicle is obtained；
According in the current location information azimuth and current angular velocity, calculate vehicle by the reckoning after preset time
Azimuth；
Using the DR position coordinate and calculate azimuth as DR position information.
2. the method according to claim 1, wherein the method further includes:
If straight line is when driving, in same time span the actual distance traveled of vehicle and according to the wheel speed of rear-wheel calculate away from
From unequal, then the velocity compensated value of vehicle is obtained；
It is described currently fixed according to vehicle to be compensated and then executed with present speed of the velocity compensated value to the vehicle
Position coordinates and azimuth and the present speed in the information of position, calculate vehicle by the DR position after preset time
The step of coordinate.
3. the method according to claim 1, wherein the method further includes:
When vehicle turning when driving, according to the angular speed and transverse acceleration of vehicle, obtain the angular rate compensation value of vehicle；
After being compensated with the angular rate compensation value to the current angular velocity of the vehicle, then executes and work as prelocalization according to described
Azimuth and current angular velocity in information calculate vehicle by the azimuthal step of reckoning after preset time.
4. method described in any one of -3 claims according to claim 1, which is characterized in that the current wheel speed of the rear-wheel
It include: the current wheel speed of off hind wheel and the current wheel speed of left rear wheel, the current wheel speed according to the rear-wheel, preset wheel speed
Than the wheelbase with vehicle, the current angular velocity for obtaining vehicle is specifically included:
With the current wheel speed of off hind wheel and the product of preset wheel speed ratio, the current wheel speed of left rear wheel is subtracted, wheel speed difference is obtained；
With the wheel speed difference divided by the wheelbase of preset vehicle, the current angular velocity of vehicle is obtained.
5. according to the method described in claim 4, it is characterized in that, obtaining working as vehicle according to the current wheel speed of vehicle rear wheel
Preceding speed specifically includes:
Made with the current wheel speed of the product and left rear wheel of the current wheel speed of off hind wheel and preset wheel speed ratio and value average value
For the present speed of the vehicle.
6. method described in any one of -3 claims according to claim 1, which is characterized in that the method is further wrapped
It includes:
Obtain the satellite positioning information that vehicle is received in the DR position coordinate corresponding time；
Whether reliable judge the satellite positioning information, if reliably,
Using Kalman filtering algorithm, the satellite positioning information and the DR position information are merged, vehicle is obtained
Location information.
7. a kind of positioning device, which is characterized in that described device includes:
Location information and wheel speed acquiring unit, for obtaining the current wheel speed of vehicle current location information and vehicle rear wheel；
Speed acquiring unit obtains the present speed of vehicle for the current wheel speed according to vehicle rear wheel；
Position coordinates projected unit, for according to position coordinates and azimuth in vehicle current location information and described current
Speed calculates vehicle by the DR position coordinate after preset time；
Angular speed acquiring unit obtains vehicle for the current wheel speed according to the rear-wheel, the preset wheelbase for taking turns speed ratio and vehicle
Current angular velocity；
Azimuth projected unit, for according in the current location information azimuth and current angular velocity, calculate vehicle warp
Cross the reckoning azimuth after preset time；
Positioning unit, for using the DR position coordinate and reckoning azimuth as DR position information.
8. device according to claim 7, which is characterized in that described device further include:
Speed compensating unit, for when straight line when driving, in same time span the actual distance traveled of vehicle and according to
The distance that the wheel speed of rear-wheel calculates is unequal, then obtains the velocity compensated value of vehicle, and obtained with the speed compensating unit
Velocity compensated value compensates and then triggers the position coordinates projected unit to the present speed of the vehicle.
9. device according to claim 7, which is characterized in that described device further include:
Angular rate compensation unit, according to the angular speed and transverse acceleration of vehicle, obtains vehicle for working as vehicle turning when driving
Angular rate compensation value, and the angular rate compensation value obtained with the angular rate compensation unit is to the current angular velocity of the vehicle
After compensating, then trigger the azimuth projected unit.
10. according to device described in any one of claim 7-9 claim, which is characterized in that the location information and wheel
The current wheel speed of rear-wheel acquired in fast acquiring unit includes: the current wheel speed of off hind wheel and the current wheel speed of left rear wheel；
The angular speed acquiring unit specifically includes:
Difference in wheel computing module for the current wheel speed and the preset product for taking turns speed ratio with off hind wheel, then subtracts left rear wheel
Current wheel speed obtains wheel speed difference；
Angular speed computing module, wheel speed difference for being obtained with the difference in wheel computing module divided by preset vehicle axis
Away from obtaining the current angular velocity of vehicle.
11. device according to claim 10, which is characterized in that the speed acquiring unit is in the current speed for obtaining vehicle
When spending, specifically include:
Made with the current wheel speed of the product and left rear wheel of the current wheel speed of off hind wheel and preset wheel speed ratio and value average value
For the present speed of the vehicle.
12. according to device described in any one of claim 7-9 claim, which is characterized in that described device further include:
Location information acquiring unit, for obtaining vehicle when the DR position coordinate that position coordinates projected unit obtains is corresponding
Between the satellite positioning information that receives；
Whether judging unit, the satellite positioning information for judging that the location information acquiring unit obtains are reliable；
The positioning unit, for when the judging unit determines that satellite positioning information is reliable, using Kalman filtering algorithm,
The satellite positioning information and the DR position information are merged, the location information of vehicle is obtained.
13. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein when described program is run
Equipment perform claim where controlling the storage medium requires localization method described in any one of 1-6 claim.
14. a kind of processor, which is characterized in that the processor is for running program, wherein right of execution when described program is run
Benefit requires localization method described in any one of 1-6 claim.
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| CN114689067A (en) * | 2020-12-29 | 2022-07-01 | 观致汽车有限公司 | Vehicle positioning method, system, storage medium and vehicle |
| CN113075713A (en) * | 2021-03-29 | 2021-07-06 | 北京理工大学重庆创新中心 | Vehicle relative pose measuring method, system, equipment and storage medium |
| CN113820516B (en) * | 2021-11-22 | 2022-04-22 | 禾多阡陌科技(北京)有限公司 | Vehicle wheel speed correction method, device, electronic equipment and computer readable medium |
| CN113820516A (en) * | 2021-11-22 | 2021-12-21 | 禾多阡陌科技(北京)有限公司 | Vehicle wheel speed correction method, device, electronic equipment and computer readable medium |
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| CN115406451A (en) * | 2022-11-01 | 2022-11-29 | 联友智连科技有限公司 | Vehicle positioning method, system, vehicle terminal and storage medium |
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